CN107719331B

CN107719331B - Floating docking device, battery replacement robot, docking method and resetting method

Info

Publication number: CN107719331B
Application number: CN201711064658.9A
Authority: CN
Inventors: 周肖鸿; 郝战铎; 陈炯
Original assignee: NIO Anhui Holding Co Ltd
Current assignee: NIO Holding Co Ltd
Priority date: 2017-11-02
Filing date: 2017-11-02
Publication date: 2021-05-25
Anticipated expiration: 2037-11-02
Also published as: EP3705358A1; EP3705358A4; WO2019085303A1; CN107719331A; TWM578663U; TW201929337A

Abstract

The invention relates to the field of charging and battery replacing, in particular to a floating docking device, a battery replacing robot, a docking method and a resetting method. The invention aims to solve the problems that a vehicle body or a power battery is easily damaged and the battery replacement efficiency is low due to frequent positioning in the battery replacement process. To this end, the floating docking device of the present invention includes a base, a floating portion, and a position maintaining portion. The floating part can float relative to the base, and at least one positioning member is arranged on the floating part, and the positioning member can be butted with an engaging member of the vehicle to be replaced through the floating of the floating part. The position holding portion is provided so as to fix the floating portion with respect to the base. Through the arrangement of the position retaining part, the butt joint frequency of the floating butt joint device and the vehicle to be replaced can be reduced, and the battery replacement efficiency is greatly improved.

Description

Floating docking device, battery replacement robot, docking method and resetting method

Technical Field

The invention relates to the field of charging and battery replacing, in particular to a floating docking device, a battery replacing robot, a docking method and a resetting method.

Background

With the popularization of new energy vehicles, how to effectively provide quick and effective energy supply for vehicles with insufficient energy becomes a very much concerned problem for vehicle owners and various manufacturers. Taking an electric vehicle as an example, the current mainstream electric energy supply scheme comprises a charging scheme and a battery replacement scheme. Compared with the charging scheme, the battery replacement scheme is one of the main development directions of electric energy supply, because the replacement of the power battery can be completed in a short time and has no obvious influence on the service life of the power battery. The battery replacement scheme is generally implemented in a battery charging and replacing station, in which a battery compartment for storing a battery and a battery replacing platform are configured, and a battery replacing robot, such as a Rail Guided Vehicle (RGV), for carrying a full/insufficient electric power battery between the battery compartment and the battery replacing platform. The battery replacement robot completes the action of replacing a power battery for the electric automobile stopped on the battery replacement platform in a reciprocating mode on a track paved in advance between the battery cabin and the battery replacement platform.

In the battery replacement process, the positioning between the battery replacement robot and the vehicle to be replaced is one of the key steps for realizing the battery replacement scheme, and the success rate and the accuracy of the positioning directly influence the success rate of battery replacement and the reliability and the service life of the battery. In order to reduce positioning errors and improve the positioning success rate, a floating platform capable of lifting is usually arranged on the battery replacement robot in the prior art, a positioning pin is arranged on the floating platform, and a positioning hole is formed in a corresponding vehicle body or a corresponding battery. In the lifting process, the positioning pin is matched with the positioning hole in an inserting mode through driving the floating platform to float in a small range, so that the battery replacement robot and the vehicle to be replaced are accurately positioned, and the battery replacement robot can finish the action of taking off the insufficient-electric-power battery from the vehicle to be replaced or installing the full-electric-power battery on the vehicle to be replaced. Although the above arrangement mode improves the positioning success rate to a certain extent, there is a certain problem in the actual application process. Firstly, the vehicle body or the power battery is easily damaged by an excessively frequent positioning process between the positioning pin and the positioning hole. Secondly, the positioning process of detaching the undercharged battery and installing the fully charged battery is repeated in the battery replacement process, and the repeated positioning also causes the battery replacement efficiency to be low.

Accordingly, there is a need in the art for a new floating docking device that addresses the above-mentioned problems.

Disclosure of Invention

In order to solve the above problems in the prior art, that is, to solve the problems that the vehicle body or the power battery is easily damaged and the battery replacement efficiency is low due to frequent positioning in the battery replacement process, the present invention provides a floating docking device, which includes a base, a floating portion and a position maintaining portion, wherein the floating portion is capable of floating relative to the base, and at least one positioning member is disposed on the floating portion, and the positioning member is capable of completing docking with a joint member of a vehicle to be replaced by floating of the floating portion; wherein the position holding portion is provided so as to be able to fix the floating portion with respect to the base.

In a preferred embodiment of the floating docking apparatus, the floating portion includes at least one floating plate and a floating platform connected to the at least one floating plate, and the at least one positioning member is disposed on the floating platform.

In a preferred embodiment of the floating docking apparatus, the floating portion includes a plurality of floating plates, and the position maintaining portion includes at least one jacking mechanism corresponding to each floating plate, and the jacking mechanism can jack the floating plate to fix the floating plate to the base.

In the preferable technical scheme of the floating butt joint device, each jacking mechanism comprises a cylinder and a friction block, a through hole is formed in the base, the cylinder is fixedly connected with the base, and a piston of the cylinder penetrates through the through hole to be connected with the friction block.

In the floating dock according to a preferred embodiment of the present invention, a plurality of first stopper members are provided for each of the floating plates, and the first stopper members are provided to allow the floating plates to float in a horizontal plane.

In the above-mentioned floating docking device, preferably, the first limiting member is a bull's eye bearing, the bull's eye bearing set up in the base, the floating plate support against in the bull's eye bearing.

In a preferred embodiment of the floating docking device, each floating plate is further provided with at least one second stopper member, and the second stopper member is provided so as to be capable of preventing relative vertical movement between the floating plate and the base.

In a preferred embodiment of the floating docking device, each of the floating plates is provided with a plurality of support members, and each of the floating plates is connected to the floating platform through the plurality of support members.

In a preferred embodiment of the floating docking device, each floating plate further includes a plurality of returning members connected to the floating plate for adjusting the position of the floating plate.

In a preferred embodiment of the floating docking apparatus, the return member includes a spring provided between the base and the floating plate, and the spring is provided so as to return the floating plate to a position determined by a biasing force of the spring.

In the preferable technical scheme of the floating docking device, at least one locking and unlocking mechanism is arranged on the floating platform, and the locking and unlocking mechanism is set to be capable of locking and unlocking the power battery.

The invention also provides a battery replacement robot, which comprises a body, wherein the body is provided with a walking device and a floating butt joint device, and the floating butt joint device is the floating butt joint device in any one of the schemes.

The invention also provides a docking method of the floating docking device in any one of the above schemes, which comprises the following steps:

interfacing the positioning member with the engagement member;

after the positioning member is abutted with the engagement member, the floating portion is fixed relative to the base.

The invention also provides a resetting method of the floating docking device in any one of the above schemes, which comprises the following steps:

disengaging the positioning member from the engagement member;

resetting the floating portion simultaneously with, before, or after disengagement of the positioning member from the engagement member.

As can be appreciated by those skilled in the art, in a preferred embodiment of the present invention, the floating docking device includes a base, a floating portion, and a position maintaining portion. The floating part can float relative to the base, and at least one positioning component is arranged on the floating part, and the component is determined to be capable of completing the butt joint with the joint component on the vehicle to be changed through the floating of the floating part. Wherein the position holding portion can fix the floating portion with respect to the base. Through the arrangement of the position retaining part, the floating butt joint device can fix the floating part relative to the base after the positioning component is in first butt joint with the joint component, namely after the floating butt joint device is positioned with a vehicle to be replaced when a power-shortage battery is unloaded, and further, the floating butt joint device can be directly installed without being positioned again when the vehicle to be replaced is fully filled with the electric battery, so that the damage to a vehicle body or a power battery caused by frequent positioning is reduced, and the service life and the battery replacement efficiency of the floating butt joint device are improved.

Specifically, the floating part comprises a floating platform and a plurality of floating plates, the floating platform is connected with the floating plates, a plurality of positioning members are arranged on the floating platform, each floating plate can float in the horizontal plane under the limitation of a plurality of first limiting members, and has no relative movement with the base along the vertical direction under the limitation of at least one second limiting member. The position maintaining part comprises a plurality of jacking mechanisms, and each jacking mechanism comprises a cylinder and a friction block connected with the end part of a piston of the cylinder. After the positioning member is butted with a vehicle to be changed through the floating of the floating platform, the air cylinder jacks up the friction block to enable the friction block to be tightly abutted against the floating plate to generate friction force, the friction force enables the floating plate to float horizontally relative to the base, and therefore the floating plate and the floating platform fixedly connected with the floating plate are kept fixed in position under the combined action of the second limiting member and the friction force. Therefore, the invention can reduce the positioning times in the battery replacement process and improve the battery replacement efficiency.

Scheme 1, a floating docking device, characterized in that, the floating docking device includes a base, a floating portion and a position maintaining portion,

the floating part can float relative to the base, and at least one positioning member is arranged on the floating part, and the positioning member can be butted with an engagement member of a vehicle to be replaced through the floating of the floating part;

wherein the position holding portion is provided so as to be able to fix the floating portion with respect to the base.

The floating dock of

claim

2 or 1, wherein the floating portion comprises at least one floating plate and a floating platform connected to the at least one floating plate, and wherein the at least one positioning member is disposed on the floating platform.

The floating docking device according to

claim

3 or 2, wherein the floating portion includes a plurality of floating plates, and the position holding portion includes at least one jack mechanism corresponding to each of the floating plates, and the jack mechanism is capable of jacking the floating plates to fix the floating plates relative to the base.

Scheme 4, according to scheme 3 the interfacing apparatus that floats, its characterized in that, every climbing mechanism includes cylinder and clutch blocks, be provided with the through-hole on the base, the cylinder with base fixed connection, the piston of cylinder passes the through-hole with the clutch blocks is connected.

The floating dock of any one of

claims

5 and 2 to 4, wherein each of the floating plates is provided with a plurality of first stopper members, the first stopper members being provided to allow the floating plate to float in a horizontal plane.

Scheme 6, according to scheme 5 unsteady interfacing apparatus, characterized in that, first stop member is the bull's eye bearing, the bull's eye bearing set up in the base, the floating plate support by in the bull's eye bearing.

The floating dock according to claim 7 or 5, wherein each floating plate is further provided with at least one second stopper member, and the second stopper member is provided so as to be capable of preventing the floating plate and the base from moving relative to each other in a vertical direction.

The floating dock of claim 8 or 7, wherein a plurality of support members are provided on each floating plate, and each floating plate is connected to the floating platform by the plurality of support members.

The floating docking system according to claim 9 or 8, wherein a plurality of returning members are further provided on each of the floating plates, and the returning members are connected to the floating plates to adjust the positions of the floating plates.

The floating docking device according to claim 10 or 9, wherein the return member includes a spring provided between the base and the floating plate, and the spring is provided so as to return the floating plate to a position determined by a preload of the spring.

Scheme 11, according to scheme 2 the butt joint device floats, its characterized in that, be provided with at least one locking and unlocking mechanism on the floating platform, locking and unlocking mechanism sets up to can lock the power battery and unlock.

Scheme 12, a trade electric robot, trade electric robot includes the body, be provided with running gear and unsteady interfacing apparatus on the body, its characterized in that, unsteady interfacing apparatus be any one of scheme 1 to 11 unsteady interfacing apparatus.

The docking method of the floating docking device according to any one of claims 13 to 11, wherein the docking method includes:

interfacing the positioning member with the engagement member;

The method for resetting the floating docking device according to claim 14 or any one of claims 1 to 11, wherein the method for resetting comprises:

disengaging the positioning member from the engagement member;

Drawings

The floating docking device, the swapping robot, the docking method, and the resetting method of the present invention will be described below with reference to the accompanying drawings in conjunction with a rail-guided swapping robot. In the drawings:

FIG. 1 is a schematic structural diagram of a floating dock of the present invention;

FIG. 2 is a schematic structural view of the floating dock of the present invention with the floating platform removed;

FIG. 3 is a schematic front view of the floating dock of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a cross-sectional view at B-B of FIG. 2;

FIG. 6 is an enlarged view of a portion of FIG. 2 at C;

FIG. 7 is an enlarged view of a portion of FIG. 3 at D;

FIG. 8 is a schematic structural diagram of a rail-guided electro-mechanical system robot according to the present invention;

FIG. 9 is a flow chart of a docking method of the floating docking device of the present invention;

fig. 10 is a flowchart of a method for resetting the floating dock of the present invention.

List of reference numerals

1. A floating docking device; 11. a base; 111. a cylindrical support; 112. an L-shaped bracket; 12. a floating part; 121. a floating platform; 122. a floating plate; 123. a support member; 124. a positioning member; 125. a locking and unlocking mechanism; 126. a first stop member; 127. a second stop member; 128. a reset member; 1281. a spring; 1282. fastening screws; 13. a position holding section; 131. a jacking mechanism; 1311. a cylinder; 1312. a friction block; 2. a body; 3. a traveling device; 4. a battery transfer device; 41. a power roller set; 42. an unpowered roller group; 5. a scissor type driving frame.

Detailed Description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention. For example, although the floating platform of the drawings is shown with two locating pins, this numerical relationship is not constant and can be adjusted as desired by one skilled in the art to suit a particular application.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring first to fig. 1, 2 and 3, wherein fig. 1 is a schematic structural view of a floating docking device of the present invention; FIG. 2 is a schematic structural view of the floating dock of the present invention with the floating platform removed; fig. 3 is a schematic front view of the floating dock of the present invention.

As shown in fig. 1 to 3, in order to avoid the problems that the vehicle body or the power battery is easily damaged and the battery replacement efficiency is low due to frequent positioning in the battery replacement process, the floating docking device 1 of the present invention mainly includes a base 11, a floating portion 12, and a position holding portion 13. The floating part 12 can float in a certain range relative to the base 11, and at least one positioning member 124 is arranged on the floating part, and the positioning member 124 can complete the butt joint with the joint member of the vehicle to be replaced through the floating of the floating part 12. The position holding portion 13 is provided to fix the floating portion 12 with respect to the base 11 after the positioning member 124 completes the abutment with the engaging member. For example, when the power-deficient battery is removed, after the positioning member 124 (e.g., positioning pin) on the floating portion 12 is inserted into the engaging member (e.g., positioning hole on the chassis or power battery) on the vehicle to be replaced by floating the floating docking device 1, the position holding portion 13 holds the floating portion 12 in a floating state relative to the base 11, and the floating portion 12 can stay at the position of insertion connection after the positioning pin is removed from the positioning hole. Therefore, when the full-charge battery is subsequently installed, the floating butt joint device 1 can directly complete the insertion of the positioning pin and the positioning hole and the installation of the full-charge battery without being positioned again.

That is to say, through the arrangement of the position holding portion 13, the invention can save the positioning times of the floating docking device 1 and the vehicle to be replaced, avoid the damage to the vehicle body or the power battery caused by frequent positioning, and improve the service life and the battery replacement efficiency of the floating docking device 1.

Referring to fig. 1 and 2, in detail, the floating portion 12 includes a floating platform 121 and a plurality of floating plates 122, and the floating platform 121 is fixedly connected to each of the floating plates 122 by a plurality of support members 123. At least one positioning member 124 and at least one locking and unlocking mechanism 125 are fixedly connected to the floating platform 121, the positioning member 124 is used for being in butt joint with a vehicle to be powered, and the locking and unlocking mechanism 125 is used for locking and unlocking the power battery. With reference to fig. 1 to 2, in a possible embodiment, the floating portion 12 includes two floating plates 122, the floating platform 121 is connected to each floating plate 122 through eight support members 123, two positioning pins (two corresponding positioning holes are provided on the vehicle to be replaced) and ten locking and unlocking mechanisms 125 are provided on the floating platform 121, and the locking and unlocking mechanisms 125 may include a servo motor and an unlocking head (e.g., an inner hexagonal locking head) provided on an output shaft of the servo motor.

Obviously, the above-mentioned arrangement is not exclusive, and those skilled in the art can adjust the arrangement as long as the adjustment enables the floating docking device 1 to smoothly complete the conditions of docking with the vehicle to be powered and unlocking the power battery. For example, the number of floating plates 122 may be one or four, the positioning members 124 may be positioning holes (positioning pins are provided on the corresponding chassis or power battery), and the floating platform 121 and the floating plates 122 are welded or integrally formed.

Reference is now made to fig. 2, 3 and 4, wherein fig. 4 is an enlarged view of a portion of fig. 3 at a. As shown in fig. 2 to 4, each of the two floating plates 122 is floated from the base 11 by a plurality of first stopper members 126 and at least one second stopper member 127, wherein the first stopper members 126 are provided to allow the floating plate 122 to float in a horizontal plane, and the second stopper members 127 are provided to allow no relative movement between the floating plate 122 and the base 11 in a vertical direction. Referring to fig. 3 and 4, preferably, the first position-limiting member 126 is a bull's eye bearing, the base of which is fixedly connected to the base 11, the balls face the floating plate 122, and the bottom surface of the floating plate 122 abuts against the bull's eye bearing. The second limiting member 127 is a large cap bolt, the floating plate 122 is provided with a limiting hole (not shown in the figure, i.e. the diameter of the limiting hole is larger than the diameter of the stud so that the floating plate 122 can float freely) capable of accommodating the stud part of the bolt, the stud passes through the limiting hole to be screwed with the base 11, and after the stud is screwed, the lower side of the nut abuts against the top surface of the floating plate 122.

Those skilled in the art will appreciate that the specific form, arrangement position and number of the first and second limiting

members

126 and 127 are not constant, and those skilled in the art can make any form of adjustment to adapt to more specific application scenarios under the condition that the above limiting conditions are satisfied. For example, the first position-limiting member 126 may also be a member that can make the floating plate 122 float freely, such as a universal wheel, and the base of the first position-limiting member may also be fixedly connected to the floating plate 122; the second stopper member 127 may be a member such as a rivet that allows the floating plate 122 to move vertically relative to the base 11, or may be an L-shaped steel disposed around the floating plate 122, in which a vertical portion of the L-shaped steel is fixedly connected to the base 11, and a horizontal portion of the L-shaped steel faces the floating plate 122 and abuts against the top surface of the floating plate 122, thereby restricting the floating plate 122 from moving vertically.

Reference is now made to fig. 2, 5 and 6, wherein fig. 5 is a cross-sectional view at B-B of fig. 2; fig. 6 is a partial enlarged view of fig. 2 at C. As shown in fig. 2, 5 and 6, in order to realize the automatic return of the floating docking device 1, in one possible embodiment, a plurality of return members 128 are further provided on each floating plate 122 for the automatic return of the floating plate 122 after floating. Preferably, the reset member 128 includes a spring 1281 and a fastening screw 1282, the spring 1281 is disposed between the base 11 and the floating plate 122, and the fastening screw 1282 is used to adjust the pre-load force of the spring 1281. As shown in connection with fig. 2, eight reset members 128 are provided on each floating plate 122, two on each side. Referring to fig. 5 and 6, a connecting hole or a counter sink is formed in a side surface of the floating plate 122, and the base 11 is provided with a cylindrical bracket 111 and an L-shaped bracket 112 corresponding to the connecting hole and the counter sink, respectively. One end of a spring 1281 of a part of the reset member 128 extends into the cylindrical bracket 111 through a connecting hole, and the other end is fastened in the connecting hole through a fastening screw 1282; the other part of the return member 128 has a spring 1281 with one end extending into the counter-sunk hole and the other end connected with the L-shaped bracket 112 by a fastening screw 1282. In this way, when the positioning member 124 is inserted into the engagement member by the floating of the floating plate 122, each spring 1281 generates an elastic force, and the floating plate 122 automatically returns by the elastic force after the insertion connection is cancelled, even if the floating plate 122 returns to the position determined by the biasing force of the spring 1281.

Of course, the arrangement and number of the reset members 128 are only a specific embodiment, and any structure capable of resetting the floating plate 122 should fall within the scope of the present invention.

Reference is now made to fig. 3 and 7, wherein fig. 7 is an enlarged view of a portion of fig. 3 at D. As shown in fig. 3 and 7, the position maintaining part 13 includes at least one jacking mechanism 131 corresponding to each floating plate 122, and preferably two jacking mechanisms 131 are provided in the present embodiment, and the jacking mechanisms 131 can lift up the floating plate 122, so that the floating plate 122 is fixed relative to the base 11 under the combined restriction of the jacking mechanisms 131 and the second limiting member 127. Preferably, each floating plate 122 is correspondingly provided with two jacking mechanisms 131, each jacking mechanism 131 comprises an air cylinder 1311 and a friction block 1312 (for example, a metal block with anti-skid texture on the top surface), a through hole (not shown in the figure) is formed in the base 11, the air cylinder 1311 is fixedly connected below the base 11, and the piston penetrates through the through hole to be connected with the friction block 1312 and can push the friction block 1312 to move up and down.

After the floating plate 122 floats in the horizontal plane, the piston pushes the friction block 1312 to be lifted up to the bottom surface of the floating plate 122 by actuating the cylinder 1311, so that a frictional force is generated between the friction block 1312 and the floating plate 122, and the floating plate 122 is relatively fixed to the base 11 against the elastic force generated by the spring 1281 under the combined action of the restriction of the second stopper member 127 and the frictional force, and at the same time, the floating platform 121 fixedly connected to the floating plate 122 is also relatively fixed to the base 11.

As described above, the position holding portion 13 is arranged so that in the battery replacement process, the floating docking device 1 only needs to be positioned once with the vehicle to be replaced, namely, the positioning is performed when the power-down battery is unloaded, and the re-positioning is not needed when the power-down battery is fully filled in the subsequent installation, so that the one-time accurate positioning process is omitted, the damage to the vehicle body due to pin hole positioning is reduced, and the battery replacement beat is accelerated.

It should be noted that the arrangement positions and the number of the position holding portions 13 are only used for illustrating the working principle of the present invention, and are not intended to limit the protection scope of the present invention, and those skilled in the art can make any form of adjustment to adapt it to more specific application scenarios without departing from the principle of the present invention. For example, the cylinder 1311 may be replaced with a hydraulic cylinder, the friction block 1312 may be replaced with a rubber block, the friction block 1312 may not be provided in the cylinder 1311, and the floating plate 122 and the base may be relatively fixed by only the lifting force of the piston rod.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a rail-guided type swapping robot of the present invention. As shown in fig. 8, the present invention further provides a rail-guided battery replacing robot (hereinafter referred to as a battery replacing robot), which mainly includes a main body 2, a traveling device 3 disposed on the main body 2, a floating docking device 1, and a battery transfer device 4. The traveling device 3 is a wheel capable of rolling on a set track, and the battery transfer device 4 comprises a power roller set 41 and an unpowered roller set 42, and is used for transferring the power battery between the battery replacing robot and a battery rack in the battery charging and replacing station. The floating docking device 1 is the floating docking device 1 in the embodiment, and is fixed on the robot body 2 through the lifting mechanism 5. If the lifting mechanism 5 is a scissor-type driving frame, the base 11 of the floating docking device 1 is fixed on the scissor-type driving frame. The scissor type driving frame can drive the floating docking device 1 to lift, so that the positioning pin on the floating platform 121 is inserted into the positioning hole on the vehicle to be replaced under the floating of the floating plate 122 relative to the base 11, and the positioning of the battery replacing robot and the vehicle to be replaced is realized. At this time, the air cylinder 1311 raises the friction block 1312 to fix the floating plate 122 to the base 11.

Referring to fig. 9, fig. 9 is a flowchart of a docking method of the floating docking device of the present invention. As shown in fig. 9, the present invention also provides a docking method of the floating docking device 1, which mainly includes:

s100, butting a positioning member 124 on the floating platform 121 with an engaging member on a vehicle to be changed;

s200, after the positioning member 124 is abutted with the engagement member, the floating portion 12 is fixed with respect to the base 11.

Referring now to fig. 10, fig. 10 is a flow chart of a method for resetting a floating docking device according to the present invention. As shown in fig. 10, the present invention further provides a method for resetting the floating docking device 1, which mainly includes:

s300, disengaging the positioning member 124 on the floating platform 121 from an engaging member on the vehicle to be changed;

s400, resetting the floating portion while, before, or after the positioning member 124 is disengaged from the engagement member.

Referring to fig. 9 and 10 in combination with fig. 8, as a possible embodiment, a primary power exchange process of a power exchange robot to which the floating docking device 1 of the present invention is applied may be:

the method comprises the steps that when a vehicle to be changed arrives at a parking platform of a charging and changing station, coarse positioning and lifting are completed, an electric changing robot arrives at the projection position of the vehicle to be changed and completes accurate positioning in the vertical direction with the vehicle to be changed → a scissor type driving frame lifts a floating docking device 1, positioning pins are matched and inserted with positioning holes of a power-deficient battery → a piston of an air cylinder 1311 lifts a friction block 1312 to a floating plate 122, the floating plate 122 is fixed relative to a base 11 → a power-deficient battery is dismounted by an unlocking mechanism 125 → the scissor type driving frame enables the floating docking device 1 to descend, dismounting of the power-deficient battery is completed → the electric changing robot departs from the electric changing position to reach a battery frame, the power-deficient battery is changed into a full-charge battery by a battery transfer device 4, positioning pins and positioning holes of the full-charge battery are completed and inserted and positioned → the electric changing robot arrives at the projection position of the vehicle to be changed again and completes accurate positioning with the vehicle to be changed, the locking and unlocking mechanism 125 completes fastening of the fully charged battery → the scissor type driving frame enables the floating docking device 1 to descend, meanwhile, the piston of the air cylinder 1311 descends, the floating plate 122 automatically resets under the elastic force of the resetting member 128 → the battery replacement robot returns to the initial position, and the battery replacement is completed.

Finally, it should be noted that although the present embodiment is described in conjunction with a rail-guided electro-kinetic robot, the present invention can also be applied to other devices with a floating docking device 1, such as an auto-guided electro-kinetic robot, etc.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims

1. A floating butt joint device is characterized by comprising a base, a floating part and a position maintaining part,

wherein the position holding portion is provided to be able to fix the floating portion with respect to the base;

the floating part comprises at least one floating plate and a floating platform connected with the at least one floating plate, and the at least one positioning component is arranged on the floating platform;

the floating part comprises a plurality of floating plates, the position holding part comprises at least one jacking mechanism corresponding to each floating plate, and the jacking mechanisms can jack the floating plates to fix the floating plates relative to the base.

2. The floating docking device as claimed in claim 1, wherein each of the jacking mechanisms comprises a cylinder and a friction block, a through hole is formed in the base, the cylinder is fixedly connected with the base, and a piston of the cylinder passes through the through hole and is connected with the friction block.

3. A floating docking device as claimed in claim 1 or claim 2 wherein each floating plate is provided with a plurality of first stop members arranged to allow the floating plate to float in a horizontal plane.

4. The floating docking device of claim 3, wherein the first stop member is a bull's eye bearing disposed on the base, the floating plate abutting against the bull's eye bearing.

5. A floating docking device as claimed in claim 3, wherein each floating plate is further provided with at least one second stop member arranged to prevent relative vertical movement between the floating plate and the base.

6. The floating docking assembly of claim 5, wherein a plurality of support members are provided on each of said floating plates, and wherein each of said floating plates is coupled to said floating platform by said plurality of support members.

7. The floating docking assembly of claim 6, wherein each of said floating plates further comprises a plurality of reset members coupled to said floating plate for adjusting the position of said floating plate.

8. The floating docking station of claim 7, wherein the return member comprises a spring disposed between the base and the floating plate, the spring being configured to return the floating plate to a position determined by a preload of the spring.

9. The floating docking device of claim 1, wherein at least one locking and unlocking mechanism is provided on the floating platform, and the locking and unlocking mechanism is configured to lock and unlock the power battery.

10. A power replacing robot, comprising a body, wherein a walking device and a floating butt joint device are arranged on the body, and the floating butt joint device is the floating butt joint device as claimed in any one of claims 1 to 9.

11. A docking method of a floating docking device according to any one of claims 1 to 9, characterized in that the docking method comprises:

interfacing the positioning member with the engagement member;

12. A method of resetting a floating docking device according to any one of claims 1 to 9, characterized in that the method of resetting comprises:

disengaging the positioning member from the engagement member;